Vehicle attitude control system

Patent metadata

Field	Value
Publication number	US-11447112-B2
Application number	US-202016882034-A
Country	US
Kind code	B2
Filing date	May 22, 2020
Priority date	Jun 4, 2019
Publication date	Sep 20, 2022
Grant date	Sep 20, 2022

Abstract

Disclosed is a vehicle attitude control system for controlling the attitude of a vehicle in which a road wheel suspension is configured such that a roll axis of a vehicle body inclines downwardly in a forward direction. The vehicle attitude control system includes: a lateral acceleration sensor operable to detect a lateral acceleration; a brake actuator operable to apply a braking force; and a brake control device operable, based on a traveling state of the vehicle, to generate the braking force, wherein the brake control device is configured to execute vehicle attitude control of applying, to an inner rear road wheel, a larger braking force when the lateral acceleration of the vehicle is relatively large than when the lateral acceleration is relatively small, thereby suppressing uplift of an inner rear portion of the vehicle body.

First claim

The invention claimed is:

1. A vehicle attitude control system for controlling an attitude of a vehicle having front and rear road wheels in which a road wheel suspension is configured such that a roll axis of a vehicle body inclines downwardly in a forward direction, comprising:
a lateral acceleration sensor configured to detect a lateral acceleration of the vehicle being traveling;
a brake actuator configured to apply a braking force to each road wheel of the vehicle; and
a brake control device configured to send a control signal to the brake actuator to cause the brake actuator to generate the braking force, based on a traveling state of the vehicle,
wherein the brake control device is configured to execute vehicle attitude control and pre-brake limited slip differential (LSD) control during turning of the vehicle based on turning manipulation of a steering wheel of the vehicle,
wherein in the vehicle attitude control, a braking force applied to an inner rear road wheel is greater when the lateral acceleration of the vehicle is greater than a predetermined lateral acceleration value than the braking force applied when the lateral acceleration of the vehicle is less than the predetermined lateral acceleration value, thereby suppressing uplift of an inner rear portion of the vehicle body, and
wherein in the pre-brake LSD control, a braking force less than a braking force applied by the vehicle attitude control is continuously applied to the inner rear road wheel while the vehicle is turning.

2. The vehicle attitude control system as recited in claim 1 , which further comprises a road wheel speed sensor configured to detect a road wheel speed of each of the inner rear road wheel and an outer rear road wheel of the vehicle, wherein the brake control device is configured to set a braking force to be applied to the inner rear road wheel of the vehicle, based on a difference in road wheel speed between the inner rear road wheel and the outer rear road wheel detected by the road wheel speed sensor, and the lateral acceleration of the vehicle.

3. The vehicle attitude control system as recited in claim 1 , which further comprises a vehicle speed sensor configured to detect a vehicle speed of the vehicle, wherein a braking force applied to the inner rear road wheel by the brake control device is greater when the vehicle speed detected by the vehicle speed sensor is greater than a predetermined speed value than the braking force applied when the vehicle speed detected by the vehicle speed sensor is less than the predetermined speed value.

4. The vehicle attitude control system as recited in claim 1 , which further comprises an accelerator position sensor, wherein a braking force applied to the inner rear road wheel by the brake control device is greater when an accelerator position detected by the accelerator position sensor is greater than a predetermined accelerator position than the braking force applied when the accelerator position detected by the accelerator position sensor is less than the predetermined accelerator position.

5. The vehicle attitude control system as recited in claim 1 , which further comprises a steering angle sensor configured to detect a steering angle of a steering wheel of the vehicle, wherein the brake control device is configured to avoid executing the vehicle attitude control, when the steering angle detected by the steering angle sensor according to turning manipulation of the steering wheel is equal to or less than a given value.

6. The vehicle attitude control system as recited in claim 1 , wherein the brake control device is configured to be capable of executing the vehicle attitude control in a low road surface friction mode and in a high road surface friction mode, an estimated friction coefficient of a road surface being higher in the high road surface friction mode than in the low road surface friction mode, and wherein the brake control device is configured to generate different braking forces with respect to a same lateral acceleration, in the low road surface friction mode and in the high road surface friction mode, respectively.

7. The vehicle attitude control system as recited in claim 1 , wherein the brake control device is configured to be capable of executing the vehicle attitude control in a low road surface friction mode and in a high road surface friction mode, an estimated friction coefficient of a road surface being higher in the high road surface friction mode than in the low road surface friction mode, and wherein the brake control device is configured to execute the vehicle attitude control when the lateral acceleration of the vehicle becomes equal to or greater than a first lateral acceleration value in the high road surface friction mode, and to execute the vehicle attitude control when the lateral acceleration of the vehicle becomes equal to or greater than a second lateral acceleration value, which is different from the first lateral acceleration value, in the low road surface friction mode.

8. The vehicle attitude control system as recited in claim 1 , which further comprises a vehicle speed sensor configured to detect a vehicle speed of the vehicle, wherein the brake control device is configured to change a condition for starting the execution of the vehicle attitude control, according to the vehicle speed detected by the vehicle speed sensor.

9. The vehicle attitude control system as recited in claim 1 , wherein the road wheel suspension comprises a link mechanism which suspends an axle portion of each of the rear road wheels with respect to the vehicle body, wherein the link mechanism suspends the axle portion such that the axle portion is swingable about a given suspension center, and wherein the suspension center is located above the axle portion.

10. The vehicle attitude control system as recited in claim 1 , wherein the vehicle comprises a mechanical limited slip differential configured to mechanically control a difference in road wheel speed difference between the inner rear road wheel and an outer rear road wheel, according to a torque supplied to each of the inner rear road wheel and the outer rear road wheel,
wherein the vehicle attitude control system further comprises an accelerator position sensor, and
wherein the brake control device is configured such that the braking force to be applied to the inner rear road wheel decreases as a change rate of an accelerator position detected by the accelerator position sensor increases.

11. The vehicle attitude control system as recited in claim 2 , which further comprises a vehicle speed sensor configured to detect a vehicle speed of the vehicle, wherein the brake control device is configured to change a condition for starting the execution of the vehicle attitude control, according to the vehicle speed detected by the vehicle speed sensor.

12. The vehicle attitude control system as recited in claim 2 , wherein the road wheel suspension comprises a link mechanism which suspends an axle portion of each of the rear road wheels with respect to the vehicle body, wherein the link mechanism suspends the axle portion such that the axle portion is swingable about a given suspension center, and wherein the suspension center is located above the axle portion.

13. The vehicle attitude control system as recited in claim 2 , wherein the vehicle comprises a mechanical limited slip differential configured to mechanically control a difference in road wheel speed difference between the inner rear road wheel and an outer rear road wheel, according to a torque supplied to each of the inner rear road wheel and the outer rear road wheel,
wherein the vehicle attitude control system furth

Assignees

• Mazda Motor

Inventors

• Hiraga Naoki
• Umetsu Daisuke
• Kato Fuminori
• Ogata Hiroyuki

Classifications

• B60T8/171

  Detecting parameters used in the regulation; Measuring values used in the regulation · CPC title

• B60T2250/04

  Vehicle reference speed; Vehicle body speed · CPC title

• B60T2230/04

  Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking · CPC title

• B60T8/241 Primary

  Lateral vehicle inclination · CPC title

• B60T2220/04

  Pedal travel sensor, stroke sensor; Sensing brake request · CPC title